/********************************************************************************
 * Copyright 2018 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_TASK_DOMTASKFORMAT_HPP_
#define RWLIBS_TASK_DOMTASKFORMAT_HPP_

/**
 * @file DOMTaskFormat.hpp
 *
 * \copydoc rwlibs::task::DOMTaskFormat
 */

#include <string>

namespace rwlibs { namespace task {
    //! @addtogroup task

    //! @{
    /**
     * @brief Definition of the identifier used in the task format.
     */
    class DOMTaskFormat
    {
      public:
        /**
         * @brief Identifier for rw::task::Task with rw::math::Q as content in the XML format.
         * @return the identifier.
         */
        static const std::string& idQTask ();

        /**
         * @brief Identifier for CartesianTask.
         * @return the identifier.
         */
        static const std::string& idCartesianTask ();

        /**
         * @brief Identifier for Targets.
         * @return the identifier.
         */
        static const std::string& idTargets ();

        /**
         * @brief Identifier for Entities.
         * @return the identifier.
         */
        static const std::string& idEntities ();

        /**
         * @brief Identifier for Augmentations.
         * @return the identifier.
         */
        static const std::string& idAugmentations ();

        /**
         * @brief Identifier for QTarget.
         * @return the identifier.
         */
        static const std::string& idQTarget ();

        /**
         * @brief Identifier for CartesianTarget.
         * @return the identifier.
         */
        static const std::string& idCartesianTarget ();

        /**
         * @brief Identifier for Motion.
         * @return the identifier.
         */
        static const std::string& idMotion ();

        /**
         * @brief Identifier for Action.
         * @return the identifier.
         */
        static const std::string& idAction ();

        /**
         * @brief Identifier for EntityIndex.
         * @return the identifier.
         */
        static const std::string& idEntityIndex ();

        /**
         * @brief Identifier for EntityId.
         * @return the identifier.
         */
        static const std::string& idEntityId ();

        /**
         * @brief Identifier for TargetIdAttr.
         * @return the identifier.
         */
        static const std::string& idTargetIdAttr ();

        /**
         * @brief Identifier for MotionTypeAttr.
         * @return the identifier.
         */
        static const std::string& idMotionTypeAttr ();

        /**
         * @brief Identifier for MotionStart.
         * @return the identifier.
         */
        static const std::string& idMotionStart ();

        /**
         * @brief Identifier for MotionMid.
         * @return the identifier.
         */
        static const std::string& idMotionMid ();

        /**
         * @brief Identifier for MotionEnd.
         * @return the identifier.
         */
        static const std::string& idMotionEnd ();

        /**
         * @brief Identifier for LinearMotion.
         * @return the identifier.
         */
        static const std::string& idLinearMotion ();

        /**
         * @brief Identifier for P2PMotion.
         * @return the identifier.
         */
        static const std::string& idP2PMotion ();

        /**
         * @brief Identifier for CircularMotion.
         * @return the identifier.
         */
        static const std::string& idCircularMotion ();

        /**
         * @brief Identifier for ActionTypeAttr.
         * @return the identifier.
         */
        static const std::string& idActionTypeAttr ();

        /**
         * @brief Utility class which initializes local static variables.
         *
         * If the DOMTaskLoader is used outside main (as a part of global
         * initialization/destruction), the Initializer should be used explicitly to control the
         * static initialization/destruction order.
         *
         * Notice that the Initializer is automatically defined as a global variable, hence it
         * should not be necessary to specify the initializer explicitly if DOMTaskLoader is to be
         * used in local static initialization/destruction.
         */
        class Initializer
        {
          public:
            //! @brief Initializes when constructed.
            Initializer ();
        };

      private:
        static const Initializer initializer;

        DOMTaskFormat () {}
        virtual ~DOMTaskFormat () {}
    };
    //! @}
}}    // namespace rwlibs::task

#endif /* RWLIBS_TASK_DOMTASKFORMAT_HPP_ */
